Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Romeo Falcón, Héctor Ríos, Alejandro Dzul

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25 Scopus citations


This paper presents a comparative analysis involving four Continuous Sliding-Modes Control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser\protect \protect \relax \special {t4ht= under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.

Original languageEnglish
Pages (from-to)241-256
Number of pages16
JournalControl Engineering Practice
StatePublished - Sep 2019

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TECNM, México projects. R. Falcón and H. Ríos also acknowledge the financial support from CONACYT, México 785635 and 270504 , respectively.

Publisher Copyright:
© 2019 Elsevier Ltd


  • Continuous sliding-mode control
  • Quad-rotor
  • Robust output-based control


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